version: 66.09
glider: 166
mission: 6
dive: 185
start: 9 7 111 17 12 18
data:
$ID,166
$MISSION,6
$DIVE,185
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,280
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24631.633
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1500
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,070911,170257,2117.056,12409.958,32,99.0,51,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.8
$GPS2,070911,171154,2116.883,12410.068,25,1.3,43,-2.8
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,306.0,342603,-16.1,-11.786
$D_GRID,5000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.76,-243.3,0.0,0.0,0,117,0.00,0.00,-96.18,0.000,2,0.000,0.000,147,1478,3202,0,0,0,0,0,0
$GC,120,-0.76,-243.3,6.2,-10.0,13,152,9.07,2.20,-12.15,0.000,4,0.217,0.054,2482,2903,3880,0,0,0,0,0,0
$GC,257,-0.76,-243.3,61.1,-26.9,36,266,0.08,2.12,0.00,0.000,6,0.153,0.034,2492,1508,3882,0,0,0,0,0,0
$GC,584,-0.76,-243.3,151.9,-25.5,97,592,0.00,1.98,0.00,0.000,4,0.000,0.041,2491,207,3884,0,0,0,0,0,0
$GC,639,-0.76,-243.3,165.2,-23.1,106,646,0.00,1.95,0.00,0.000,6,0.000,0.032,2484,1507,3883,0,0,0,0,0,0
$GC,967,-0.76,-243.3,242.8,-23.6,167,976,0.00,2.10,0.00,0.000,4,0.000,0.040,2473,2907,3885,0,0,0,0,0,0
$GC,1000,-0.76,-243.3,250.2,-23.0,172,1010,0.00,2.12,0.00,0.000,6,0.000,0.032,2473,1492,3884,0,0,0,0,0,0
$GC,1325,-0.76,-243.3,316.4,-19.5,203,1329,0.00,2.10,0.00,0.000,4,0.000,0.040,2463,2911,3884,0,0,0,0,0,0
$GC,1365,-0.76,-243.3,323.8,-17.7,206,1370,0.12,2.10,0.00,0.000,6,0.161,0.033,2500,1494,3884,0,0,0,0,0,0
$GC,1691,-0.76,-243.3,376.5,-16.8,236,1694,0.00,1.95,0.00,0.000,4,0.000,0.042,2509,196,3884,0,0,0,0,0,0
$GC,1729,-0.76,-243.3,383.1,-15.4,239,1737,0.00,1.95,0.00,0.000,6,0.000,0.033,2507,1502,3884,0,0,0,0,0,0
$GC,2055,-0.76,-243.3,433.3,-16.0,270,2059,0.00,2.08,0.00,0.000,4,0.000,0.045,2507,2899,3882,0,0,0,0,0,0
$GC,2117,-0.76,-243.3,441.9,-13.0,275,2121,0.00,2.08,0.00,0.000,6,0.000,0.034,2508,1503,3881,0,0,0,0,0,0
$GC,2447,-0.76,-243.3,494.3,-16.0,306,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1502,3879,0,0,0,0,0,0
$GC,2770,-0.76,-243.3,542.8,-14.6,336,2773,0.00,2.12,0.00,0.000,4,0.000,0.050,2498,2897,3877,0,0,0,0,0,0
$GC,2861,-0.76,-243.3,554.6,-11.6,343,2869,0.00,2.12,0.00,0.000,6,0.000,0.038,2498,1494,3876,0,0,0,0,0,0
$GC,3186,-0.76,-243.3,596.5,-13.1,374,3190,0.00,2.17,0.00,0.000,4,0.000,0.052,2487,2898,3873,0,0,0,0,0,0
$GC,3237,-0.76,-243.3,603.1,-12.5,377,3241,0.00,2.12,0.00,0.000,6,0.000,0.039,2487,1493,3873,0,0,0,0,0,0
$GC,3558,-0.76,-243.3,648.9,-14.3,393,3562,0.00,2.17,0.00,0.000,4,0.000,0.053,2477,2897,3870,0,0,0,0,0,0
$GC,3590,-0.76,-243.3,653.6,-14.0,394,3597,0.00,2.12,0.00,0.000,6,0.000,0.041,2477,1507,3869,0,0,0,0,0,0
$GC,3908,-0.76,-243.3,698.9,-14.1,410,3912,0.00,2.15,0.00,0.000,4,0.000,0.055,2467,2900,3866,0,0,0,0,0,0
$GC,3932,-0.76,-243.3,702.2,-13.7,411,3937,0.12,2.12,0.00,0.000,6,0.163,0.041,2501,1498,3865,0,0,0,0,0,0
$GC,4260,-0.76,-243.3,741.1,-11.9,427,4264,0.00,2.03,0.00,0.000,4,0.000,0.054,2501,196,3863,0,0,0,0,0,0
$GC,4306,-0.76,-243.3,747.1,-12.6,429,4310,0.00,1.98,0.00,0.000,6,0.000,0.041,2493,1490,3862,0,0,0,0,0,0
$GC,4638,-0.76,-243.3,791.9,-13.7,445,4642,0.00,2.20,0.00,0.000,4,0.000,0.054,2476,2913,3858,0,0,0,0,0,0
$GC,4680,-0.76,-243.3,797.3,-14.2,447,4684,0.00,2.15,0.00,0.000,6,0.000,0.041,2473,1501,3858,0,0,0,0,0,0
$GC,5007,-0.76,-243.3,842.7,-13.2,463,5012,0.10,2.22,0.00,0.000,4,0.177,0.057,2486,2903,3855,0,0,0,0,0,0
$GC,5034,-0.76,-243.3,846.3,-13.1,464,5038,0.00,2.15,0.00,0.000,6,0.000,0.043,2487,1510,3854,0,0,0,0,0,0
$GC,5358,-0.76,-243.3,883.8,-11.6,480,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1510,3853,0,0,0,0,0,0
$GC,5665,-0.76,-243.3,918.9,-11.2,495,5669,0.00,2.20,0.00,0.000,4,0.000,0.059,2476,2903,3850,0,0,0,0,0,0
$GC,5709,-0.76,-243.3,924.0,-11.0,497,5713,0.00,2.17,0.00,0.000,6,0.000,0.045,2476,1490,3849,0,0,0,0,0,0
$GC,6032,-0.76,-243.3,960.0,-11.0,513,6036,0.00,2.25,0.00,0.000,4,0.000,0.060,2465,2910,3847,0,0,0,0,0,0
$GC,6076,-0.76,-243.3,965.1,-10.8,515,6081,0.12,2.17,0.00,0.000,6,0.158,0.045,2499,1495,3847,0,0,0,0,0,0
$STATE,6354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6354,begin apogee
$GC,6362,-0.14,0.0,990.2,9.0,529,6574,0.57,0.00,202.77,1.431,6,0.112,0.000,2694,1858,2882,0,0,0,0,0,0
$STATE,6575,end apogee,CONTROL_FINISHED_OK
$STATE,6575,begin climb
$GC,6579,0.76,243.3,997.1,0.0,539,6816,0.80,2.50,219.77,1.368,4,0.045,0.057,3023,448,1891,0,0,0,0,0,0
$GC,6832,0.76,243.3,957.9,22.2,550,6841,0.12,2.35,0.00,0.000,6,0.177,0.047,2991,1851,1888,0,0,0,0,0,0
$GC,7149,0.76,243.3,896.2,19.2,566,7153,0.00,2.22,0.00,0.000,4,0.000,0.060,2981,3261,1883,0,0,0,0,0,0
$GC,7289,0.76,243.3,870.9,17.6,572,7293,0.00,2.17,0.00,0.000,6,0.000,0.044,2989,1849,1882,0,0,0,0,0,0
$GC,7605,0.76,243.3,815.0,17.5,587,7609,0.00,2.22,0.00,0.000,4,0.000,0.057,2981,3263,1881,0,0,0,0,0,0
$GC,7661,0.76,243.3,805.6,16.5,589,7668,0.00,2.17,0.00,0.000,6,0.000,0.042,2989,1844,1880,0,0,0,0,0,0
$GC,7977,0.76,243.3,750.6,17.7,605,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1844,1880,0,0,0,0,0,0
$GC,8287,0.76,243.3,692.7,19.4,620,8291,0.00,2.22,0.00,0.000,4,0.000,0.057,2981,3270,1878,0,0,0,0,0,0
$GC,8358,0.76,243.3,679.4,18.6,623,8362,0.00,2.17,0.00,0.000,6,0.000,0.042,2989,1844,1878,0,0,0,0,0,0
$GC,8684,0.76,243.3,614.0,19.9,639,8688,0.00,2.22,0.00,0.000,4,0.000,0.056,2981,3266,1878,0,0,0,0,0,0
$GC,8717,0.76,243.3,607.3,19.4,640,8724,0.00,2.15,0.00,0.000,6,0.000,0.041,2989,1849,1877,0,0,0,0,0,0
$GC,9046,0.76,243.3,547.2,17.8,669,9050,0.00,2.22,0.00,0.000,4,0.000,0.055,2981,3270,1876,0,0,0,0,0,0
$GC,9157,0.76,243.3,526.4,17.4,678,9164,0.00,2.15,0.00,0.000,6,0.000,0.040,2989,1848,1876,0,0,0,0,0,0
$GC,9483,0.76,243.3,471.8,15.5,709,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1848,1876,0,0,0,0,0,0
$GC,9805,0.76,243.3,421.3,16.9,739,9809,0.00,2.20,0.00,0.000,4,0.000,0.053,2981,3265,1875,0,0,0,0,0,0
$GC,9905,0.76,243.3,404.1,15.6,747,9913,0.00,2.15,0.00,0.000,6,0.000,0.040,2989,1840,1875,0,0,0,0,0,0
$GC,10230,0.76,243.3,352.2,15.0,778,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1840,1875,0,0,0,0,0,0
$GC,10552,0.76,243.3,307.1,12.8,808,10556,0.00,2.12,0.00,0.000,4,0.000,0.049,2994,442,1875,0,0,0,0,0,0
$GC,10609,0.76,243.3,299.3,13.0,812,10616,0.00,2.15,0.00,0.000,6,0.000,0.039,2984,1868,1874,0,0,0,0,0,0
$GC,10936,0.76,243.3,256.9,12.7,843,10940,0.00,2.12,0.00,0.000,4,0.000,0.051,2975,3251,1874,0,0,0,0,0,0
$GC,11014,0.76,243.3,247.4,12.5,850,11022,0.00,2.15,0.00,0.000,6,0.000,0.037,2985,1845,1874,0,0,0,0,0,0
$GC,11339,0.76,243.3,204.4,13.4,911,11347,0.00,2.17,0.00,0.000,4,0.000,0.047,2998,449,1874,0,0,0,0,0,0
$GC,11367,0.76,243.3,200.8,13.5,915,11377,0.00,2.12,0.00,0.000,6,0.000,0.037,2993,1836,1874,0,0,0,0,0,0
$GC,11694,0.77,250.5,161.1,11.6,976,11703,0.00,0.00,5.28,0.580,6,0.000,0.000,2993,1836,1862,0,0,0,0,0,0
$GC,12022,0.83,298.4,127.1,10.2,1037,12074,0.00,2.22,43.12,0.753,4,0.000,0.047,2993,3270,1667,0,0,0,0,0,0
$GC,12104,0.88,343.9,118.3,10.3,1049,12148,0.00,2.20,39.67,0.733,6,0.000,0.035,3001,1851,1481,0,0,0,0,0,0
$GC,12469,1.10,523.4,88.2,5.9,1115,12627,0.25,2.30,145.32,0.702,4,0.056,0.044,3142,444,748,0,0,0,0,0,0
$GC,12745,1.10,523.4,37.5,17.6,1158,12754,0.08,2.17,0.00,0.000,6,0.135,0.033,3107,1857,745,0,0,0,0,0,0
$STATE,12968,end climb,SURFACE_DEPTH_REACHED
$STATE,12968,begin surface coast
$FINISH,1.2,0.997540
$STATE,12985,end surface coast,CONTROL_FINISHED_OK
$STATE,12985,begin surface
$SM_CCo,13063,0.00,0.000,0,0,743,525.19
$SM_GC,1.95,7.72,0.00,0.00,0.034,0.000,0.000,154,1488,743,-8.04,-0.34,525.19,0,0,0,0,0,0
$IRIDIUM_FIX,2111.01,12405.14,070911,171713
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.32
$INTERNAL_PRESSURE,9.39948
$TCM_TEMP,25.10
$XPDR_PINGS,76
$24V_AH,23.0,42.532
$10V_AH,10.1,31.415
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.175,117.400,655.950,0.000,0.000,54.621,82.491,158.140,19.000,0.000,44.048,2931.384,6545.566,667.508,3053.445,392.578,0.000,1881.626,0.000,2727.727,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,60.435,1430.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.704,1231.070,1409.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330164
$DATA_FILE_SIZE,70169,1202
$CAP_FILE_SIZE,139481,0
$CFSIZE,260165632,131076096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288,134.8,1
$GPS,070911,205154,2116.630,12409.692,58,1.9,75,-2.8